Datasets.
Structured3D [1]} is a large-scale photo-realistic dataset containing 3500 houses with diverse floor plans covering both Manhattan and non-Manhattan layouts.
It contains semantically-rich annotations including doors and windows, and 16 room types.
We adhere to the pre-defined split of 3000 training samples, 250 validation samples and 250 test samples.
As in [2]}, [3]},
we convert the registered multi-view RGB-D panoramas to point clouds, and project the point clouds along the vertical axis into density images of size 256\(\times \) 256 pixels.
The density value at each pixel is the number of projected points to that pixel divided by the maximum point number so that it is normalized to [0, 1].
